System and method for multi-instrument surgical access using a single access port

ABSTRACT

A system for performing multi-tool minimally invasive medical procedures through a single instrument port into a body cavity includes an expandable frame that carries a pair of tool cannulas, each of which has a lumen for receiving a tool useable to perform a procedure in the body cavity. The frame is expandable to orient the tool cannulas such that they allow the tools to be used in concert to carry out a procedure at a common location in the body cavity.

RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional Application No.60/801,113, filed May 17, 2006, U.S. Provisional Application No.60/801,034, May 17, 2006, U.S. Provisional Application No. 60/819,235,filed Jul. 7, 2006. This application is also a Cominuation-in-Part ofU.S. application Ser. No. 11/789,381, now issued as U.S. Pat. No.7,833,156, filed Apr. 24, 2007, which claims the benefit of U.S.Provisional Application No. 60/794,563, filed Apr. 24, 2006.

FIELD OF THE INVENTION

The present invention relates to the field of devices and procedures foruse in performing surgery in the peritoneal cavity using access througha single port in the abdominal wall.

BACKGROUND OF THE INVENTION

Surgery in the abdominal cavity is typically performed using opensurgical techniques or laparoscopic procedures. Each of these proceduresrequires incisions through the skin and underlying muscle and peritonealtissue, and thus results in the potential for post-surgical scarringand/or hernias. Laparoscopic procedures, while less invasive than opensurgical techniques, require multiple small incisions or ports to gainaccess to the peritoneal site using the various instruments and scopesneeded to complete the procedure. The systems disclosed herein allowsuch procedures to be performed using only a single port.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A is a perspective view showing a first embodiment of a singleport surgical system.

FIG. 1B is cross-section view taken along the plane designated 1B-1B inFIG. 1A.

FIG. 2A is a top perspective view showing the distal portion of thesingle port surgical system of FIG. 1A.

FIGS. 2B and 2C are a top plan view and a side elevation view of thelinkage assembly of FIG. 2A. In FIG. 2C, the center retractor is shownin a downwardly deflected position, and phantom lines are shown toillustrate the retractor in an upwardly deflected position.

FIG. 2D is a top plan view of the linkage assembly of FIG. 2A in thestreamlined position.

FIG. 2E is a perspective view similar to FIG. 2A illustrating exemplarymovement patterns for the tool cannulas and associated tools.

FIG. 3A is a perspective view showing the distal end of slightlymodified single port surgical system using an alternative linkageconfiguration.

FIG. 3B is a cross-section view taken along the plane designated 3B-3Bin FIG. 3A.

FIGS. 4A and 4B are a top perspective view and a bottom perspectiveview, respectively, of the distal end of another embodiment using anadditional tool cannula.

FIGS. 5 and 6 are a perspective view and a cross-sectional side view ofa gimbal assembly.

FIGS. 7A and 7B are perspective views of the gimbal assembly of FIG. 5showing two exemplary locking mechanisms.

FIGS. 8A and 8B are perspective views of an alternative gimbal system.

FIG. 9 is a detailed perspective view of the proximal end of aprocedural cannula and support system using yet another alternativegimbal system.

FIG. 10 shows the gimbal system of the FIG. 9 embodiment.

FIG. 11 is an exploded view of the gimbal system of FIG. 19.

FIG. 12 is a plan view of the distal surface of the ball of the gimbalsystem of FIG. 10.

FIG. 13 is a plan view of the proximal surface of the ball of FIG. 12,with the cap removed and shown in perspective view.

FIG. 14 is a perspective view of an alternative user interface for thesystem of FIG. 1A.

FIG. 15 is a perspective view showing an alternate single port surgicalsystem having a detachable proximal component. The proximal and distalcomponents are show separated from one another.

FIG. 16 is a detailed view of a portion of the system of FIG. 15 showingthe socket and the hub. The socket is shown partially cut-away to permitviewing of features located inside it.

FIGS. 17A and 17B are perspective views of a pullwire head and controlwire connector illustrating the step of coupling the two together.

FIGS. 18A and 18B are perspective views of one embodiment of an accesscannula.

FIG. 19A is a perspective view of a second embodiment of an accesscannula.

FIG. 19B is a side elevation view of a modification to the embodiment ofFIG. 19A.

FIG. 20 schematically illustrates the single port surgical system ofFIG. 1A coupled to a surgical table and having its distal end extendingthrough an access cannula and into an insufflated abdominal cavity.

FIG. 21 schematically illustrates the single port surgical system ofFIG. 1A coupled to a ceiling mount in a surgical theatre and having itsdistal end extending through an access cannula and into an insufflatedabdominal cavity.

FIG. 22 schematically shows a patient lying prone on a surgical tableand illustrates the system of FIG. 1A in use for surgery on a liver. Thepatient is shown as partially transparent to allow the system to beseen.

DETAILED DESCRIPTION OF THE DRAWINGS

Procedural Cannula and Support System

The system illustrated in the accompanying drawings allows surgicalprocedures to be carried out through a single port formed in anabdominal wall. The port may be formed using conventional techniques ina chosen location, or it may be formed through the umbilicus.

For certain procedures, it would be advantageous to allow the surgeon toperform a single port surgical procedure in a manner that allows him/herto approach the surgical target within the peritoneal cavity from thesame direction from which s/he would typically approach that samestructure using a multi-port laparoscopic or open surgical procedure.For example, if a particular procedure utilizes an anterior approach tothe treatment site when carried out using laparoscopic or surgicaltechniques, it would also be desirable to allow the surgeon to approachthe treatment site from an anterior perspective even when using a singleport technique. It is also desirable to orient the tools in a singleport system so they will approach the operative tissue site in theabdominal cavity from the same direction from which those same toolswould have approached the site if introduced through separate portsusing known laparoscopic techniques. The system illustrated in theattached figures allows familiar laparoscopic approaches to be usedusing single port access, thus allowing a surgeon to easily andintuitively transition between single port surgical procedures andmulti-port laparoscopic procedures.

Referring to FIG. 1, one embodiment of a single port surgical system 100includes an instrument system 22 and a support system 24. In use, thesupport system 24 forms a sort of scaffold or chandelier within the bodyto support the instrument system 22 in a location that allows thesurgeon to advance the instruments of the instrument system using adesired approach. Thus, for example, if performing a procedure thattypically uses an anterior approach when carried out surgically orlaparoscopically, the user might position the support system 24 adjacentthe interior of the abdominal wall.

Support system 24 includes an elongate overtube 12 that is extendablethrough an opening in a body wall, and preferably through an accesscannula 10 positioned in an incision or trocar puncture in the abdominalwall. The overtube 12 is a rigid or semi-rigid tubular cannula, althoughit may be deployable in a more flexible state and later converted to aself-supporting rigid state similar to the locking spine described inApplicants' co-pending U.S. application Ser. No. 11/789,381, Filed Apr.24, 2007 which is incorporated by reference.

Referring again to FIG. 1A, instrument system 22 includes one or moreprocedural cannulas or tool cannulas 14 each having a lumen extendingits length. Instruments 16 (e.g., forceps, endoscopes, suture devices,staplers) are extendable through the procedural cannulas 14 and intoposition at the target site in the peritoneal cavity, with the handles18 of the instruments remaining outside the body. Two or threeprocedural cannulas are useful in that they allow for the simultaneoususe of multiple instruments 16. In the FIG. 1A embodiment, a centralretractor 14 b is positioned between the tool cannulas 14. Retractor 14b has a handle 18 b that can be manipulated to open/close the retractorjaws.

The procedural cannulas 14 and central retractor 14 b extend through theovertube 12, allowing for a streamlined system that occupies a minimalamount of space. An endoscope 20 (FIG. 4B) can also extend through theovertube 12, allowing the user to observe the procedure being carriedout at the distal end of the system. If needed, other instruments mayextend directly through the overtube 12 towards the operative siteand/or they may be supported by additional procedural cannulas.

If the system is to be used in procedures requiring insufflation, all ora portion of the length of the overtube may be filled with a plug formedof fill material 13 such as silicone or UV-curable polymer as shown inFIG. 1B. The fill material forms a seal around the procedural cannulasto prevent leakage of insufflation gas through the overtube. Anadditional endoscope lumen 15 may extend through the fill material forreceiving an endoscope. The inner features of central retractor 14 b arenot shown in FIG. 1B.

Although the overtube 12 is described as formed of tubing, it can bereplaced by any other structure that will bundle the tool cannulas andassociated devices or cannulas (e.g. an endoscope or a cannula for theendoscope). As one example, instead of extending the tool cannulas etc.through an overtube, these devices may instead be bound together usingshrink wrap or similar processes.

The system 100 includes features that support and orient the proceduralcannulas 14 as appropriate for a given procedure. Referring to FIG. 1A,the tool cannulas are supported by a linkage system 26. In thisembodiment, the linkage system 26 includes a pair of members 28. Eachmember 28 is attached by a corresponding one of the tool cannulas 14 bya first hinge 30 and to central retractor 14 b (or, alternatively, to alongitudinal tool cannula like cannula 14 a of FIG. 4A) by a secondhinge 32. Hinges 30 may be mounted to corresponding collars 34 on thetool cannulas 14, and hinge 32 may be on a similar collar 36 (FIG. 2B)on retractor 14 b. When linkage 26 is in the collapsed streamlinedposition, members 28 extend in a distal direction as shown in FIG. 2D,with the tool cannulas 14 disposed near the longitudinal axis of theovertube for passage through the access cannula 10. To deploy thelinkage 26, central retractor 14 b is withdrawn proximally, causing themembers 28 to pivot at hinges 30, 32.

Referring to FIG. 2C, central retractor 14 b includes a proximal section38 and a distal section 40. Proximal section 38 is formed of a number ofsegments 42 strung onto one or more cables, with shorter segments 44 andan instrument tip 46 on the distal section 40. Cables within theretractor 14 b are arranged such that the retractor becomes rigid whenthe cables are tensioned, and such that distal section 40 will deflectwhen the balance of tension within the cables is altered using controls(not shown) on the handle 18 b or elsewhere outside the body. Forexample, retractor 14 b may be deflectable towards and away from thebody tissue as shown in FIG. 2C to allow tissue to be lifted by theretractor so the tissue may be acted upon by an instrument carried byone of the tool cannulas 14. Additional pull cables (not shown) areoperable to open and close the jaws of the retractor tip 46.

In the disclosed embodiments, each tool cannula 14 preferably has apre-shaped curve in its distal region. The curve orients the cannula 14such that when the linkage is opened, the instruments 16 (FIG. 1A)passed through the central lumens of the cannulas 14 can access a commontreatment site. The preformed shape may be set using any of a number ofmethods. For example, cannulas 14 can be made of pre-curved tubinghaving rigidity sufficient to prevent buckling during use. Reinforcingbraid made of stainless steel or other materials may be formed into thewalls of the tubing in the rigid section of the cannulas 14. In otherembodiments, the shaped region may have a segmented construction asshown in FIG. 2D (in which the linkage is in the collapsed position) andas similar to the segmented spine disclosed in co-pending U.S.application Ser. No. 11/789,381, Filed Apr. 24, 2007. With this design,individual spine segments are strung over one or more cables. Thesegments have individual shapes that collectively will give the toolcannulas the desired curvature (e.g. one that orients the cannulas asshown in FIG. 2A) when the cables running through the segments aretensioned. The entire length of the cannula may be segmented, or thedistal portion may be formed of polymer tubing to allow flexibility.

FIG. 3A is a perspective view of modified configuration for the distalend of the system 100, showing the distal ends of the tool cannulas 14.In this embodiment, a linkage 26 a is pivotally connected to thecannulas 14 at pivot points 50 and couples the cannulas 14 to theovertube 12. Linkage 26 a also provides structural support for thedistal portions of the tool cannulas 14 and maintains the relativeorientation of the cannulas 14. The linkage 26 a is attached to a pivotmount 52 on the distal portion of the overtube 12. Another of the pivotmounts 54 is coupled to a pull wire 56 that extends proximally throughovertube 12 to a location outside the body. In an alternative embodimentshown in FIGS. 4A and 4B, pivot mount 54 may be coupled to the distalportion of a third longitudinal tool cannula 14 a extendinglongitudinally from the overtube 12, or to a similarly positioned toolshaft (e.g. shaft 14 b, FIG. 2A). As another alternative, either or bothof the pivot mounts 52, 54 may extend into free space as shown insteadof being attached to the cannula 14 a and/or overtube 12.

Dashed lines in FIG. 3A show the arrangement of the linkage 26 a andpivot mounts 50 when that embodiments in the collapsed position. When inthe streamlined position, the pivot mounts 50 are positioned side byside, thus orienting the tool cannulas 14 adjacent to one another. Whenin the deployed position, the pivot mounts are positioned approximately3-7 inches apart, and more preferably approximately 4-6 inches apart. Inother words, the lateral separation between the tool cannulas within thebody (i.e. in a direction perpendicular to the longitudinal axis of theovertube 12) may be in the range of 3-7 inches.

The linkage 26 a of FIG. 3A may be deployed to the open position bywithdrawing pullwire 56, whereas the FIG. 4A, 4B embodiment can bedeployed by advancing the distal end of the longitudinal tool cannula 14c in a distal direction to move the linkage 26 a out of the accesscannula and/or to deploy the linkage to the expanded position. In otherembodiments, one or more of the pivot points 50, 52, 54 may be springloaded to facilitate expansion of the linkage 26 a. Any combination ofthese deployment mechanisms, or others not specifically mentioned, mayinstead be used to deploy the linkage 26 a in the peritoneal cavity.

Opening the linkage positions the cannulas 14 as shown in FIGS. 2A, 3Aand 4A-4B and thus points the instruments 16 positioned in the cannulas14 generally towards an operative tissue site. Once deployed within thebody, a preferred system orients the tool cannulas 14 such that thetools 16 within the cannulas approach the tissue site from anglesmimicking the angles of approach that those tool would have ifintroduced using a multiport laparoscopic procedure. This concept isdiscussed in greater detail in connection with FIG. 22.

The distal end of each tool cannula 14 has a region that is deflectablein multiple directions to allow positioning and manipulation of theoperative ends of the instruments. This avoids the need forsophisticated steerable surgical instruments. Instead, instruments 16having flexible shafts are positioned in the tool cannulas 14, andsteering of the instruments is achieved by deflecting the tool cannulas14. Because the tools 16 are flexible, it may be necessary to “stiffen”the shaft of the tool 16 to allow the tool to be successfully used. Aslideable stiffening cannula 60 (FIG. 4A) may be advanced from withinthe tool cannula 14 over a portion of the shaft of the tool 16 toeffectively stiffen the tool's shaft during the procedure, thus allowingthe tool to be pressed into contact with body tissue without buckling.Other internal structures such as stiffening mandrels, reinforcingcollars or braids, may instead be used for this purpose. The segmentedor “shape-lock” construction described above in connection with FIG. 2Dmay also be used for the tool cannulas to provide rigidity to thecannulas during tool usage.

In a preferred embodiment, deflection of the tool cannulas 14 isperformed using a pullwire system. Referring to FIG. 3B, pullwires 128extend through corresponding pullwire lumens 64, preferably spaced atintervals of 90°. The distal ends of the pullwires are anchored in thedistal sections of the cannula 14 such that the distal section of thecannula can be made to deflect in a desired direction by pulling on thedesired combination of pullwires. FIG. 2E illustrates in dashed lines V1a conical volumes defined by an exemplary movement pattern for the toolcannula 14, and the corresponding volume V2 defined by the tool 16within the cannula 14.

Actuation of the pullwires is achieved using features that during useare positioned outside the body. A deflection system is provided thatallows the user to intuitively actuate the pullwires for a particularone of the tool cannulas 14 by manipulating the handle 18 of theinstrument 16 that resides within that tool cannula. For example, if theuser wishes to have the distal end of a tool move in a downwarddirection, s/he will intuitively raise the handle 18 of that tool tocause the corresponding tool cannula to deflect downwardly, thus movingthe tool to the desired position.

Referring to FIG. 1A, the proximal ends of the pullwires 62 extend fromthe proximal ends of the cannulas 14 and feed into a correspondingdeflection system, which in the illustrated embodiments is a controlgimbal 66.

The gimbal 66 may be mounted to a work stand 68 as shown in FIG. 1A. Inuse the work stand 68 may be set on top of the patient's torso, mountedto a fixture within the operating room. The fixture might be one or bothside-rails of the surgical table (FIG. 20), the ceiling of the surgicaltheatre (FIG. 21) or a cart positioned near the surgical table. In anycase, the work stand 68 is positioned to give the surgeon convenient andintuitive access to the handles 18 while s/he observes the procedure onan endoscopic display (not shown). As shown in FIG. 14, use of thesystem may be facilitated by providing a “cockpit” for the user,coupling an endoscopic display 70 to a work stand 68 that supports thecontrol gimbals 66, as well as the proximal controls for the endoscope20, and optionally other ports for passing instruments through theaccess cannula to the peritoneal space.

The work stand 68 is proportioned to allow the surgeon to position hisor herself in a comfortable position with his/her hands on the handles18 of the tools 16. The work stand 68 preferably positions the toolhandles 18 approximately 10-15 inches apart.

A preferred control gimbal 66 is shown in FIG. 13. It includes a base 72mounted to the work stand (not shown in FIG. 5) and having a tubular endpiece having a channel 74. A c-shaped mount 76 is connected to the base72 and includes a through hole 78 continuous with the channel of thetubular end piece 74. In a slight modification, the hole 78 might beaccompanied by four separate through holes 78 a-d might be used forreceiving pull wires as in the FIG. 10 embodiment to be discussed below.A ring 80 is pivotally mounted to the mount 76 at pivot bearings 82. Asemi-spherical ball 84 is pivotally mounted within the ring at pivots86. Four pull-wire ports 88 extend from the interior of the ball 84 toits outer surface.

Instrument port 90 includes side channels 92 having distal openings 94and proximal openings 96. The four pullwires 62 from the tool cannulas14 extend through the tubular end piece 74 and each passes through hole78, through the hollow interior of the ball 84, and out correspondingones of the pull-wire ports 88 in the ball. The pullwires further extendinto the instrument port side channels 92 and are secured there byanchors 98.

Instrument port 90 has a lumen 102 extending proximally from thespherical ball 84. The shaft 18 of an instrument 16 (see FIG. 12A, notshown in FIGS. 13-14) extends through the lumen 102 and the ball 84,through hole 78 in the c-shaped mount 76, and via tube 74 and the workstand 68 (FIG. 12A), into the corresponding tool cannula 14. Theoperative end of the instrument 16 extends from the distal end of thetool cannula 14.

When it becomes necessary for the surgeon to change the orientation ofthe distal end of an instrument 16, s/he need only intuitively move thehandle 18 of that instrument and the distal portion of the instrumentwill deflect accordingly as a result of the action of the gimbal on thepullwires of the tool cannula. Vertical movement of the handle 18 willcause the ball 84 to rotate relative to pivots 86, thus applying tensionto the upper or lower pullwire 62 to cause upward or downward deflectionof the tool cannula 14 (and thus the distal end of the instrument 16).Lateral movement of the handle 18 will cause the ball 84 and ring 80 torotate about pivots 82 and to therefore tension one of the sidepullwires to change the lateral bend of the tool cannula 14. The controlgimbal allows combinations of vertical and lateral deflection, giving360° deflection as shown in FIG. 4E. Thus user may additionallyadvance/retract the tool 16 longitudinally within the tool cannula 14,and/or axially rotate the tool 16 relative to the tool cannula whenrequired.

The control gimbal 66 includes a locking mechanism that allows aninstrument orientation to be temporarily fixed until further deflectionis needed. This feature allows a user to fix a trajectory for multipleinstruments that are to be sequentially used at a particular location.For example, once the orientation of a tool cannula 14 is set, a certainstep in the procedure may be performed using a first instrument passedthrough that cannula. When a subsequent step requiring a differentinstrument is to be performed, the instruments are exchanged withoutmoving the tool cannula 14. This allows the second instrument to beadvanced to the exact location at which it is needed without additionalsteering.

One exemplary locking mechanism includes a pair of locking screws 104that are tightened as shown by arrows in FIG. 7A to lock the C-mount 76to the ring 80 and to lock the ring 80 and the ball 84. Alternatively,as shown in FIG. 7B, a simple pneumatic shaft lock 106 could be employedon each of the gimbals' pivot axes. A solenoid or similar device mightbe used in place of the pneumatic lock 106.

An alternate gimbal arrangement is shown in FIGS. 8A and 8B. As shown, acone shaped instrument port 108 is mounted to the proximal end of eachcannula, and includes a diaphragm seal 110 having a slit 112 sealablearound an instrument shaft 114 passed into the instrument port 108. InFIGS. 16A and 16B only the handle of instrument shaft 114 is shown topermit easier viewing of the surrounding features.

A gimbal 116 includes a collar 118 mounted on the instrument port 108and four wings 120 radiating from the collar 118. Each pullwire 62 iscoupled to one of the wings 120. Struts 122 extend proximally from thewings 120 and are joined to a sleeve 124 through which a portion of theinstrument shaft 114 extends. Collar 118 is moveable relative to theinstrument port 108, and in particular collar 118 is rotatable about itscentral axis, and pivotable in multiple directions. Movement of thecollar 118 places one or more of the pullwires 62 under tension andresults in deflection of the cannula 14. Since the instrument shaft 114is coupled to the collar 118 by struts 122, a user can manipulate theinstrument shaft 114 handle in an intuitive manner similar to a joystickto allow the user to steer the distal end of the cannula 14 in thedesired direction.

FIGS. 9-10 illustrate a gimbal system similar to that described inconnection with FIG. 5, but that is modified to allow a user to adjustthe sensitivity of the gimbals. In other words, the gimbal can be finetuned such that the amount of deflection of the tool cannulascorresponds directly to the amount by which the user moves the toolhandles 18 within the gimbal system, or the amount of deflection can begreater than or less than the corresponding movement of the toolhandles.

Referring to FIG. 10, many of the features of the gimbal 126 are similarto those of gimbal 66 of FIGS. 5 and 6. These similar features includebase 72, which is coupled to work stand or frame 68. Four through-holes78 a-d (three of which are visible in FIG. 10), one for each pull wire,extend from c-shaped mount 76 through base 72. The pullwires feed intothe through-holes 78 a-d from cable housings 128 that pass through theframe 68. The more distal segments of the pullwires extend from theframe 68 into the tool cannulas 14 extending distally from the frame 68.

A ring 80 is pivotally mounted to mount 76 at pivots 82, andsemi-spherical ball 84 is pivotally mounted within the ring 80 at pivots86.

The gimbal 126 of FIG. 10 differs from the gimbal 66 of FIGS. 5-6 in itsuse of a microadjustment assembly 130. As with the prior gimbalarrangements, the four pullwires of one of the tool cannulas terminatein the gimbal at 90 degree quadrants. Motion of the instrument shaft 18(FIG. 1A) alters the tension on the various pullwires, which causesdeflection of the tool cannula tip and corresponding movement of thetool within the tool cannula. The effect lever arm of each pull wire isaltered in the FIG. 19 embodiment by moving the point of termination ofeach pull wire towards or away from the gimbals' center of rotation.Moving the pullwire terminations away from the center of rotation causesmovement of the tool cannula 14 to be amplified relative to the movementof the tool handle 18, whereas moving the pullwire terminations towardsthe center of rotation decreases the amplification.

Ball 84 includes a distal surface 132 as shown in FIG. 12, and a planarproximal surface 134 as shown in FIG. 11. Four radial slots 136 a-dextend through between the surfaces 132, 134. Referring to FIG. 11, foursliding terminal plates 138 a-d, each including a pullwire terminal 140a-d and a proximally-extending follower pin 142 a-d, are positioned incontact with the planar proximal surface 134. A peg 146 on the distalside of each terminal plate is received in the corresponding one of theslots 136 a-d.

Each pullwire used to deflect the tool cannula extends through one ofthe slots 136 a-d and is anchored within a terminal 140 a-d of one ofthe four sliding terminals 138 a-d. FIG. 12 shows the distal facing side132 of the ball 84, with the terminals 140 a-d positioned over the slots136 a-d. The pull wires themselves are not shown.

A tubular instrument port 148 is centrally positioned on the proximalsurface 134 of the ball 84. A retainer cap 150 covers the surface 134,such that the instrument port 148 extends through a central opening 152in the retainer cap. The sliding terminal plates 138 a-d are sandwichedbetween the surface 134 and the retainer cap 150. FIG. 13 shows the cap150 removed from the ball 84. The inner, distal facing, surface of thecap 150 includes a spiral rib 154 defining a spiral shaped slot 156.Each of the follower pins 142 a-d of the terminal plates 138 a-d isdisposed within the spiral slot 156.

A retaining ring 158 is engaged with the instrument port 148 andfunctions to hold the cap 150, terminal plates 138 a-d, and ball 84together such that the follower pins 142 a-d remain within the spiralslot 156. Cap is rotatable in clockwise and counterclockwise directionsrelative to the instrument port 148. Rotation of the cap will increaseor decrease the sensitivity of the gimbal system. More specifically, ifthe cap is rotated in a first direction, the spiral rib 154 will causethe pins 142 a-d to advance through the spiral slot towards the outercircumference of the cap, causing the terminal plates to slide radiallyoutwardly within slots, thereby increasing the sensitivity of the gimbalsystem. If the cap is rotated in a second direction, the pins willadvance through the spiral slot toward the center of the cap, causingthe terminal plates to slide radially inwardly within the slots so as toloosen the tension on the pullwires and to decrease the sensitivity ofthe gimbal system. Markings 160 on the cap 150 and a correspondingpointer 158 instruct the user as to the level of sensitivity achievedwhen the cap is in one of the designated rotational positions relativeto the pointer 158.

In alternative configurations for adjusting gimbal sensitivity, the usermay have the option to set different sensitivity levels for differentones of the pull wires.

The system is preferably packed in a kit containing instructions for useinstructing the user to use the system in the manner disclosed herein.

FIG. 15 shows a modified system 100A which differs from the system ofFIG. 1A in that it includes a distal section 170 that is detachable fromthe proximal section 172 for disposal or sterilization. On the distalsection 170, tool cannulas 14 extend from a hub 174, with each of thepullwires 62 from the tool cannulas 14 extending through the hub andterminating proximally of the hub as shown. Each pullwire 62 includes ahead 176 or crimp on its proximal end as shown. In the FIG. 15embodiment, a central tool cannula 178 also extends through the hub andis coupled to pivot mount 52 of the linkage 26. An additional cannula180 (or alternatively, a tool) is coupled to the pivot mount 54 and islongitudinally moveable to deploy or collapse the linkage in a mannersimilar to that described in connection with FIGS. 4A and 4B.

The proximal section 172 includes a socket 182 for receiving the hub174. A plurality of control wires 184 are positioned with their distalends within the socket. Each control wire 184 includes a connector 186at its distal end. Each control wire 184 extends through the frame andthrough a control wire tube 188. The distal end of each control wire 184is coupled to the gimbal 126 in the same manner in which the pull wiresare shown to be connected to the gimbals of FIGS. 5-8B. A central port180 a (see also FIG. 9) extends through the mount 68 and allows passageof an endoscope or other tool into tool cannula 180.

During assembly of the proximal and distal sections 172, 170, thecontrol wires 184 are coupled to corresponding ones of the tool cannulapull wires 62, so that manipulation of tool handles 18 (FIG. 1A) withinthe gimbals 126 will deflect the tool cannulas 14 in the same manner asdescribed above. To connect the control wires 184 and pull wires 62, thehead 176 of each pull wire 62 is inserted into and engaged with theconnector 186 of a control wire 184 as illustrated in FIGS. 17A and 17B.The hub 174 is seated within the socket 182 to securely connect theproximal and distal sections 172, 170.

As with the previously described embodiments, the shafts of instrumentsextend through instrument ports in the gimbals. See instrument 148 inthe FIG. 10 embodiment. Referring again to FIG. 15, each the tool shaft(not shown but see shaft 17 in FIG. 1A) extends through an opening 189in the portion of mount that supports the gimbal, and extendsapproximately in parallel to the control wire tubes 188. The shaftfurther extends out a port 191 positioned in socket 182 and into acorresponding port 193 in the hub 174

FIGS. 18A and 18B give one example of a rigid access cannula 10 whichincludes a distal end 194 insertable into an incision formed in a bodywall. The incision may be an incision or trocar puncture formed throughthe abdominal wall or other body wall, or through the umbilicus. Theaccess cannula 10 may be unsupported by additional hardware, or it mightinclude a mount that couples to a side-rail of the surgical table so asto support and stabilize the access cannula 10 throughout the procedure.

A flange 196 surrounds the external surface of the cannula 10 and ispositioned to make contact with the skin surrounding the incision. Aside port 198 is positioned to receive insufflation gas from anappropriate source. Insufflation gas introduced via port 198 willinflate the abdominal cavity to enlarge the working space available forthe procedure. Inflation of the abdominal cavity will cause a seal toform between the flange 196 and the tissue surrounding the incision. Ifnecessary, a substance or material (e.g. silicone, rubber, adhesive,gel, etc.) may be positioned between the flange and the tissue tofacilitate sealing.

One or more flexible (e.g. rubber) fittings 200 a-c extend from theproximal end of the access cannula 10. Each fitting gives access to theinterior of the access cannula 10. The individual fittings 200 a-c maylead to separate lumens or to a single common lumen within the accesscannula. In a preferred embodiment, a single lumen having an innerdiameter of 15-35 mm is used. During use of the system, instruments tobe passed into the body are inserted through the fittings into theaccess cannula. As shown in FIG. 18B, seals 202 (e.g., silicone, rubber,or other suitable material) are positioned to seal against the outersurfaces of instruments such as the overtube 12 and any otherinstruments passed through them. Sealing is desirable to prevent loss ofinsufflation pressure during the procedure. Each seal has a centralopening 204 that preferably has an inner diameter that is smaller thanthe outer diameter of the instrument or collection of instruments to bepassed through it. The access cannula 10 preferably includes an internalseal that prevents loss of insufflation pressure during times when anyor all of the fittings 200 a-c is without an instrument. For example, ifeach fitting is associated with a separate lumen, duck bill valves maybe positioned within each lumen to form a seal when no instrument ispresent in that lumen. If only a single lumen is used, a single duckbill valve may be used. Stoppers may also be positioned in the fittingswhen needed.

In one embodiment the access cannula 10 is approximately 6 inches inlength.

An alternative access cannula 10 a shown in FIG. 19A includes a singlelumen 206 and is provided without the fittings of the FIG. 18A/18Bembodiment. In the FIG. 19A embodiment, a pair of proximal, middle, anddistal annular plates 208, 210, 212 are coupled to the proximal end ofthe cannula 10 a. A proximal seal 214 is anchored between the proximalplate 208 and the middle plate 210. A distal seal 216 is anchoredbetween the middle plate 210 and the distal plate 212 such that theseals are spaced apart from another. The illustrated seals are annularseals each having an opening having a smaller diameter than the diameterof the overtube 12. In another variation shown in FIG. 19B, a portion ofthe access cannula 10 b or its fittings (including one or all of thefittings of the FIG. 18A/18B embodiment) may include a longitudinallyexpandable bellows 220 proximal to face plate 209. Bellows 220 expand toaccommodate the linkage prior to its deployment, but that can becompressed following deployment of the linkage to reduce the overalllength of the access cannula 10.

The system 100 of FIG. 1A may be used for a variety of procedures to becarried out within the abdominal cavity, including resection, bypass,and/or anastomosis of the bowel, appendectomy, hysterectomy, ovaryremoval, cholecystectomy, prostatectomy and other procedures includingthose currently performed using laparoscopic or open surgicaltechniques. Use of the system 100 for surgery via umbilical access willnext be described with reference to the system 100 of FIG. 1A and theaccess cannula 10 a of FIG. 19A.

The system 100 is prepared for use by feeding the distal ends of theinstruments 16 into the procedural cannulas 14, with the distal ends ofthe instruments preferably remaining within the lumens of the proceduralcannulas 14. If a central tool cannula 14 a is used, the centralinstrument is similarly fed through that cannula 14 a, and an endoscopeis preferably positioned to allow visualization at the distal end of thetool cannula. The linkage 26 (which has the procedural cannulas 14coupled to it) is placed in the collapsed position.

An incision is formed through a desired location in the abdominal wall.The umbilicus or navel may be chosen as the location for the incisionsince it allows access through an existing scar and avoids the necessityfor additional scars. The access cannula 10 a is inserted into theincision. The collapsed linkage 26/procedural cannula 14 assembly isinserted into the access cannula 10 a. The proximal and distal seals214, 216 seal against the shaft of the overtube 12.

If the cannula 10 of FIGS. 18A/18B is instead used, the collapsedlinkage 26/procedural cannula 14 assembly may be inserted into theproximal end fitting 200 a of the access cannula 10, an endoscope ispassed into fitting 200 b, and any other instrument needed for theprocedure is passed into the fitting 200 c. The seals in the fittings200 a-c seal against the outer surfaces of the procedural cannulas 14,endoscope, etc.

Before the linkage 26/procedural cannula 14 assembly is advanced fromthe access cannula 10 a into the abdominal cavity, insufflation gas isintroduced into the cavity via insufflation port 198 (FIG. 19A) of theaccess cannula 19A. Once the cavity has been inflated, the linkage 26 ismoved to the expanded position as described above (e.g. by advancingcentral retractor 14 b or procedural cannula 14 a (FIG. 4A) in a distaldirection using the handle 18 a of central tool/cannula 14 a). Expansionof the linkage 26 orients the procedural cannulas 14 as shown in FIG. 2A

The distal ends of the instruments 16 are advanced from the proceduralcannulas 14, 14 a and used to carry out the surgical procedure. Theendoscope 20 may be advanced or oriented into a convenient positionwithin the cavity. When reorientation of an instrument 16 is needed, thehandle 18 of that instrument is manipulated, causing the associatedcontrol gimbal 126 to engage the pullwires associated with theprocedural cannula 14 carrying that instrument. Once the procedure iscompleted, the instruments are withdrawn into the procedural cannulas14, the linkage is collapsed (actively or by withdrawing it into theaccess cannula 10 a). Any other instruments similarly withdrawn from theaccess cannula, the access cannula 10 is removed from the body, and theincision is closed in the usual fashion.

FIG. 22 schematically illustrates use of the disclosed system of FIG. 2as used such as for a cholecystectomy procedure. According to such aprocedure, the overtube 12 (with the procedural cannulas 14 extendingthrough it) is introduced into the peritoneal space via a singleabdominal port (not shown) and oriented towards the procedural site asshown. Tge overtube may be straight, but it will preferably have a bendtailored towards the quadrant of the abdominal cavity within which theprocedure is to be carried out. Differently shaped overtubes may be usedfor different approaches (e.g. upper right quadrant vs. upper leftquadrant approaches). The liver retractor 16 c or retractor 16 a (FIG.2A) is used to lift and retract the liver superiorly away from thegallbladder and the operational area of the instruments 16. Instruments16 are advanced through the procedural cannulas and used to perform theprocedure. Whereas prior art laparoscopic procedures involve formationof three surgical ports or incisions labeled W (retractor port), X(right tool port), Y (scope port), Z (left tool port) in FIG. 22, use ofthe disclosed system allows the cholecystectomy procedure to beperformed less invasively while allowing the surgeon to carry out theprocedure from the same familiar perspective from which s/he would haveperformed the laparoscopic procedure. Using the linkage system, tools inthe tool cannulas, the central retractor, and the scope are oriented toapproach the operative site from the approximate directions that theywould have taken if they had been advanced through ports X, Y, W and Z.

The illustrated embodiments utilize internal scaffold devices in singleport procedures to locate tools at or near the abdominal walls such thatthe tools may be manipulated in a way that is intuitive to the surgeongiven his/her experience with laparoscopic and/or open surgicaltechniques.

While certain embodiments have been described above, it should beunderstood that these embodiments are presented by way of example, andnot limitation. It will be apparent to persons skilled in the relevantart that various changes in form and detail may be made therein withoutdeparting from the spirit and scope of the invention. This is especiallytrue in light of technology and terms within the relevant art(s) thatmay be later developed.

Any and all patents, patent applications and printed publicationsreferred to above are incorporated by reference.

We claim:
 1. A method of performing a minimally-invasive surgicalprocedure, comprising the steps of: providing a surgical system, thesurgical system including an elongate rigid support having a distal end;a mount on the rigid support; first and second actuators on the mount,each actuator including a tool port; a first tool cannula having adistal portion extending distally from the distal end of the rigidsupport, a proximal portion coupled to the first actuator, and a lumen,a second tool cannula having a distal portion extending distally fromthe distal end of the rigid support, a proximal portion coupled to thesecond actuator, and a lumen; forming an incision through skin of apatient into an underlying peritoneal cavity; introducing a distalportion of the surgical system through the incision and into theperitoneal cavity by passing the distal portions of the tool cannulasand the distal end of the rigid support through the incision; releasablyattaching the surgical system to an operating room fixture andpositioning the surgical system such that the mount is at leastpartially elevated relative to a height of the incision; introducing anend effector of a first surgical instrument into the tool port of thefirst actuator, and advancing the end effector to cause the end effectorto pass into and through the lumen of the first tool cannula and intothe peritoneal cavity, and further causing a proximal portion of thefirst surgical instrument to contact the first actuator; introducing anend effector of a second surgical instrument into and through the toolport of the first actuator, and advancing the end effector to cause theend effector to pass into and through the lumen of the second toolcannula and into the peritoneal cavity, and further causing a proximalportion of the second surgical instrument to contact the secondactuator; and steering the distal end of the first tool cannula bylaterally moving a handle of the first instrument; steering the distalend of the second tool cannula by laterally moving a handle of thesecond instrument; and performing a surgical procedure on body tissuewithin the peritoneal cavity using the first and second instruments;wherein each actuator is provided to include a gimbal comprising adistal member fixed to the mount and a proximal member connected to pullcables extending through the corresponding one of the tool cannula andmoveably coupled to the distal member, one of the distal and proximalmembers comprising a partially spherical socket member and the other ofthe distal and proximal members comprising a partially spherical ballmember; and steering the distal end of the first tool cannula includeslaterally moving the handle of the first instrument to move the proximalmember of the actuator relative to the distal member thereby activatingthe pull cables.
 2. The method of claim 1, further including introducinga scope into a proximal opening in the elongate member.
 3. The method ofclaim 1, wherein introducing a distal portion of the surgical systemthrough the incision and into the peritoneal cavity includes positioningthe system in an insertion position in which the distal portions of thetool cannulas extend distally from the distal end of the rigid supportand are spaced apart by a first distance, passing the distal portions ofthe tool cannulas and the distal end of the rigid support through theincision, and then positioning the system in an expanded position inwhich the distal portions of the tool cannulas are spaced apart by asecond distance that is greater than the first distance.
 4. The methodof claim 1, wherein releasably attaching the surgical system to anoperating room fixture includes releasably coupling the mount to theoperating room fixture.
 5. The method of claim 1, wherein releasablyattaching the surgical system to an operating room fixture includescoupling the surgical system to a surgical table.
 6. The method of claim1, wherein releasably attaching the surgical system to an operating roomfixture includes coupling the surgical system to a cart.
 7. The methodof 1, wherein releasably attaching the surgical system to an operatingroom fixture includes coupling the surgical system to a ceiling mountedsupport.
 8. A method of performing a minimally-invasive surgicalprocedure, comprising the steps of: providing a surgical system, thesurgical system including an elongate rigid support having a distal end;a mount on the rigid support; first and second actuators on the mount,each actuator including a tool port; a first tool cannula having adistal portion extending distally from the distal end of the rigidsupport, a proximal portion coupled to the first actuator, and a lumen,a second tool cannula having a distal portion extending distally fromthe distal end of the rigid support, a proximal portion coupled to thesecond actuator, and a lumen, and a third cannula slidable relative tothe elongate support, a first support member pivotally coupled betweenthe third cannula and the distal portion of the first tool cannula, anda second support member pivotally connected between the third cannulaand the distal portion of the second tool cannula, and forming anincision through skin of a patient into an underlying peritoneal cavity;introducing a distal portion of the surgical system through the incisionand into the peritoneal cavity by passing the distal portions of thetool cannulas and the distal end of the rigid support through theincision; releasably attaching the surgical system to an operating roomfixture and positioning the surgical system such that the mount is atleast partially elevated relative to a height of the incision;introducing an end effector of a first surgical instrument into the toolport of the first actuator, and advancing the end effector to cause theend effector to pass into and through the lumen of the first toolcannula and into the peritoneal cavity, and further causing a proximalportion of the first surgical instrument to contact the first actuator;introducing an end effector of a second surgical instrument into andthrough the tool port of the first actuator, and advancing the endeffector to cause the end effector to pass into and through the lumen ofthe second tool cannula and into the peritoneal cavity, and furthercausing a proximal portion of the second surgical instrument to contactthe second actuator; and steering the distal end of the first toolcannula by laterally moving a handle of the first instrument; steeringthe distal end of the second tool cannula by laterally moving a handleof the second instrument; performing a surgical procedure on body tissuewithin the peritoneal cavity using the first and second instruments; andlongitudinally sliding the third cannula between first and secondpositions to cause the first and second support members to pivotoutwardly relative to the third cannula and to thereby move the distalportions of the tool cannulas laterally outwardly relative to the thirdcannula.
 9. The method of claim 8, wherein: providing the surgicalsystem includes providing the system to include a third member coupledbetween the elongate tube and the first tool cannula, and a fourthmember coupled between the elongate tube and the distal portion of thesecond tool cannula, and longitudinally sliding the third cannulabetween the first and second positions causes the third and fourthmembers to pivot relative to the elongate rigid member.
 10. The methodof claim 8, further including passing a distal end of a third instrumentinto a proximal end of the third cannula and through the third cannulainto the body cavity, and using the third instrument in performing thesurgical procedure.
 11. The method of claim 8, wherein releasablyattaching the surgical system to an operating room fixture includesreleasably coupling the mount to the operating room fixture.
 12. Themethod of claim 8, wherein releasably attaching the surgical system toan operating room fixture includes coupling the surgical system to asurgical table.
 13. The method of claim 8 wherein releasably attachingthe surgical system to an operating room fixture includes coupling thesurgical system to a cart.
 14. The method of claim 8, wherein releasablyattaching the surgical system to an operating room fixture includescoupling the surgical system to a ceiling mounted support.
 15. Themethod of claim 8, further including introducing a scope into a proximalopening in the elongate member.
 16. A method of performing aminimally-invasive surgical procedure, comprising the steps of:providing a surgical system, the surgical system including an elongaterigid support having a distal end; a mount on the rigid support; firstand second actuators on the mount, each actuator including a tool port;a first tool cannula having a distal portion extending distally from thedistal end of the rigid support, a proximal portion coupled to the firstactuator, and a lumen, a second tool cannula having a distal portionextending distally from the distal end of the rigid support, a proximalportion coupled to the second actuator, and a lumen; forming an incisionthrough skin of a patient into an underlying peritoneal cavity;positioning the system in an insertion position in which the distalportions of the tool cannulas extend distally from the distal end of therigid support and are spaced apart by a first distance; introducing adistal portion of the surgical system through the incision and into theperitoneal cavity by passing the distal portions of the tool cannulasand the distal end of the rigid support through the incision, and thenpositioning the system in an expanded position in which the distalportions of the tool cannulas are spaced apart by a second distance thatis greater than the first distance releasably attaching the surgicalsystem to an operating room fixture and positioning the surgical systemsuch that the mount is at least partially elevated relative to a heightof the incision; introducing an end effector of a first surgicalinstrument into the tool port of the first actuator, and advancing theend effector to cause the end effector to pass into and through thelumen of the first tool cannula and into the peritoneal cavity, andfurther causing a proximal portion of the first surgical instrument tocontact the first actuator; introducing an end effector of a secondsurgical instrument into and through the tool port of the firstactuator, and advancing the end effector to cause the end effector topass into and through the lumen of the second tool cannula and into theperitoneal cavity, and further causing a proximal portion of the secondsurgical instrument to contact the second actuator; and steering thedistal end of the first tool cannula by laterally moving a handle of thefirst instrument; steering the distal end of the second tool cannula bylaterally moving a handle of the second instrument; and performing asurgical procedure on body tissue within the peritoneal cavity using thefirst and second instruments; wherein the distance between the distalend of each of the first and second tool cannulas and the distal end ofthe rigid support remains constant during movement of the system betweenthe insertion position and the expanded position.